EP0145270A2 - Manipulateur de transport - Google Patents

Manipulateur de transport Download PDF

Info

Publication number
EP0145270A2
EP0145270A2 EP84307700A EP84307700A EP0145270A2 EP 0145270 A2 EP0145270 A2 EP 0145270A2 EP 84307700 A EP84307700 A EP 84307700A EP 84307700 A EP84307700 A EP 84307700A EP 0145270 A2 EP0145270 A2 EP 0145270A2
Authority
EP
European Patent Office
Prior art keywords
boom
horizontal member
pivot
horizontal
members
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP84307700A
Other languages
German (de)
English (en)
Other versions
EP0145270B1 (fr
EP0145270A3 (en
Inventor
William Charles Cox
Gordon Cox
George Leskien
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canadian Patents and Development Ltd
Original Assignee
Canadian Patents and Development Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canadian Patents and Development Ltd filed Critical Canadian Patents and Development Ltd
Publication of EP0145270A2 publication Critical patent/EP0145270A2/fr
Publication of EP0145270A3 publication Critical patent/EP0145270A3/en
Application granted granted Critical
Publication of EP0145270B1 publication Critical patent/EP0145270B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries

Definitions

  • This invention relates to a vehicle for transporting and manipulating which is particularly suitable for operating in a confined space.
  • the present invention provides an apparatus that facilitates manipulating and transporting of objects within a confined space, such as a tunnel.
  • the manipulator transporter of the present invention comprises: a pair of spaced side frames having ground traversing means; front and rear interconnecting members for interconnecting said side frames, said interconnecting members each having a transverse horizontal member, and a pair of spaced depending members slideably connected to a respective side frame; means for raising and lowering each interconnecting member relative to the side frame; a manipulator boom for manipulating an object attached thereto; a pair of boom connecting means one each for connecting the boom to each of the two horizontal members, both of said boom connecting means comprising pivot means allowing the boom to pivot about a vertical axis with respect to the horizontal member, at least one of said boom connecting means comprising a follower for traversing the horizontal member; pivot means allowing the boom to pivot about a horizontal axis parallel with the horizontal member; actuator means associated with each of the front and rear of the boom operative to position the respective front and rear portion of the boom laterally along the horizontal member; and longitudinal sliding means for accommodating variations in the distance between the boom connecting means resulting from pivotal motion of the boom
  • Figure 1 is a perspective view illustrating one embodiment of the manipulator transporter of the present invention.
  • the manipulator transporter 1 of the present invention comprises a pair of side frames 2 and 3 having ground traversing means shown as wheels 4 driven by a suitable motor 5.
  • Interconnecting the side frames 2 and 3 are front and rear interconnecting members 6 and 7, respectively.
  • the interconnecting members 6 and 7 each comprise a horizontal member 8 and 9, respectively, and a pair of spaced depending members 10 slideably connected to a respective side frame 2 and 3.
  • Each interconnecting member 6 or 7 may be raised or lowered by suitable means, such as hydraulic actuators 11;
  • a manipulator boom 12 Connected to the horizontal members 8 and 9 are a manipulator boom 12.
  • the boom is connected by front and rear boom connecting means 13 and 14, each is shown comprising a follower 15 for traversing along the horizontal members 8 or 9, and pivot means 16 allowing the boom to pivot about a vertical axis.
  • front and rear boom connecting means 13 and 14 each is shown comprising a follower 15 for traversing along the horizontal members 8 or 9, and pivot means 16 allowing the boom to pivot about a vertical axis.
  • only one of the boom connecting means 13 or 14 need have a follower 15, although this reduces the maximum lateral travel of the boom.
  • pivot means 17 Associated with the horizontal members 6 and 7 are pivot means 17 to allow the boom to pivot about a horizontal axis parallel with the horizontal members.
  • actuator means 18 for positioning the respective front and rear portions of the boom transversely along the respective horizontal members 8 and 9.
  • the boom 12 is provided with longitudinal sliding means 19 to accommodate variations in the distance between the boom connecting means resulting from rotational motion of the boom.
  • An alternative to the arrangement shown may take the form of a boom having two telescopically interconnected portions wherein the sliding telescoping connection lies between the front and rear interconnecting means 13 and 14.
  • one of the interconnecting members (7) may be provided with pivot means 20 to allow pivoting of the depending members 10 relative to the horizontal member 9 about a horizontal axis perpendicular with a longitudinal axis of the horizontal member.
  • pivot means 20 to allow pivoting of the depending members 10 relative to the horizontal member 9 about a horizontal axis perpendicular with a longitudinal axis of the horizontal member.
  • the boom 12 will preferably be provided with a telescoping or longitudinally extendable portion 21 with suitable actuator means to provide longitudinal movements. Also, the end of the boom may be provided with a head attachment 22 providing rotary and pivoting motion.
  • the manipulator transporter of the present invention may be provided with additional known features such as outriggers and roof jacks for increased stability during certain operations.
  • the horizontal members 8 and 9 will include a pair of telescoping sections 23 and 24 to provide adjustment of the width of the manipulator transporter.
  • the manipulator transporter 1 may be used for manipulating and transporting objects.
  • the operation may be similar to that of a conventional straddle carrier.
  • Conventional means may be used to attach an object to the transporter, or the object may be attached to the boom.
  • manipulating of an object or tool involves manipulating the boom 12.
  • Vertical motion of an object is obtained by raising and lowering of the interconnecting members 6 and/or 7 using the actuators 11. It can be seen that raising one interconnecting member while lowering the other effects pivoting of the boom about a horizontal axis and also provides for maximum vertical travel of the boom end.
  • Lateral motion of the boom is effected by actuation of one or both actuators 18 causing the boom connecting means 13 to traverse the horizontal members 8 and/or 9. Movement in opposite directions at the front and rear effects pivoting of the boom in a horizontal plane and maximizes the horizontal lateral travel of the boom.
  • Longitudinal motion is provided by extension and retraction of the extendable portion 21. It will be understood that the various motions described above may be used independently or in combination.
  • the preferred use envisaged for the manipulator transporter is in conjunction with tunnel boring operations.
  • the manipulator transporter facilitates the transporting of equipment or components for the erecting, servicing or dismantling of the tunnel boring machine within the confines of the tunnel.
  • the present arrangement of the manipulator boom requires less head room to operate as compared to conventional booms or cranes.
  • the longitudinal cross-section is such that it can pass over or straddle other equipment or objects while a manipulating operation is performed.
  • the manipulator transporter of the present invention may be used for other purposes where both manipulating and transporting is involved, and adaptations for the specific purpose may be made.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
EP84307700A 1983-11-08 1984-11-08 Manipulateur de transport Expired EP0145270B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA440617 1983-11-08
CA000440617A CA1209968A (fr) 1983-11-08 1983-11-08 Transporteur-manipulateur

Publications (3)

Publication Number Publication Date
EP0145270A2 true EP0145270A2 (fr) 1985-06-19
EP0145270A3 EP0145270A3 (en) 1985-12-27
EP0145270B1 EP0145270B1 (fr) 1988-01-20

Family

ID=4126472

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84307700A Expired EP0145270B1 (fr) 1983-11-08 1984-11-08 Manipulateur de transport

Country Status (4)

Country Link
US (1) US4629369A (fr)
EP (1) EP0145270B1 (fr)
CA (1) CA1209968A (fr)
DE (1) DE3468843D1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105522558A (zh) * 2016-01-21 2016-04-27 中国矿业大学 宽度可调的移动平台及具有其的机器人
CN106625554A (zh) * 2016-09-22 2017-05-10 羊丁 一种可叠放的货物托运机器人
CN111496763A (zh) * 2020-04-27 2020-08-07 华中科技大学 一种基于十字滑移台的多自由度旋转机械爪夹取装置
CN114087004A (zh) * 2021-11-17 2022-02-25 中国矿业大学 一种实现掘支平行作业的临时支架搬运装置及工作方法

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6238658A (ja) * 1985-08-14 1987-02-19 Hitachi Ltd 副走査速度の制御方法
US5109952A (en) * 1990-11-06 1992-05-05 Starks John W Mobile and adjustable scaffold system for tunnel roofing and other applications
DE10127964B4 (de) * 2001-06-08 2011-06-16 Eiler, Peter, Dr.-Ing. Flurförderfahrzeug
CN111152182B (zh) * 2019-10-09 2022-02-08 山东大学 一种用于运营期隧道衬砌检测及病害诊断的多臂机器人
US12031922B2 (en) 2019-10-09 2024-07-09 Shandong University Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period
DE102019217126A1 (de) * 2019-11-06 2021-05-06 Continental Automotive Gmbh Modularer roboter
CN112267391B (zh) * 2020-10-27 2021-08-20 西南交通大学 一种采用斗拱原理连接的两级耗能型棚洞支撑结构及其设计方法
CN112440852A (zh) * 2020-11-27 2021-03-05 赵宝 一种农业用农产品运载装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2901232A (en) * 1956-02-06 1959-08-25 Cutcrete Mfg Corp Mobile pavement breaker having leaf spring impact tool accelerating means
US3075603A (en) * 1959-06-29 1963-01-29 Drott Mfg Corp Vehicle steering system
US3348711A (en) * 1965-06-28 1967-10-24 Emery T Gove Straddle type carrier
FR2024728A5 (fr) * 1969-10-20 1970-08-28 Fontan Andre
US3892100A (en) * 1973-08-23 1975-07-01 Consolidation Coal Co Method and apparatus for mining and supporting the mine roof
US3893520A (en) * 1974-01-21 1975-07-08 Fmc Corp Canopy assembly for a dual boom drill
US4203687A (en) * 1975-06-20 1980-05-20 The Sea Horse Corporation Under water crane
US4076130A (en) * 1976-02-27 1978-02-28 Hydrotech International, Inc. Apparatus for mounting a coupling member over a pipe end in a subsea location
FR2348786A1 (fr) * 1976-04-22 1977-11-18 Renault Module de deplacement lineaire pour robot ou automate
US4218158A (en) * 1977-10-14 1980-08-19 Tesson Prosper A Pipe handling method and apparatus
SE426511B (sv) * 1978-06-13 1983-01-24 Linden Alimak Ab Anordning for automatiserad bultisettning vid bergforsterkning
US4290490A (en) * 1979-04-16 1981-09-22 Schroeder Brothers Corporation Roof bolting device
US4252475A (en) * 1979-04-16 1981-02-24 Schroeder Brothers Corporation Vehicle mounted temporary roof support
US4312609A (en) * 1980-07-01 1982-01-26 Culley Jr Donnell H Mine roof support system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105522558A (zh) * 2016-01-21 2016-04-27 中国矿业大学 宽度可调的移动平台及具有其的机器人
CN106625554A (zh) * 2016-09-22 2017-05-10 羊丁 一种可叠放的货物托运机器人
CN106625554B (zh) * 2016-09-22 2019-01-18 山东纳德机械科技有限公司 一种可叠放的货物托运机器人
CN111496763A (zh) * 2020-04-27 2020-08-07 华中科技大学 一种基于十字滑移台的多自由度旋转机械爪夹取装置
CN114087004A (zh) * 2021-11-17 2022-02-25 中国矿业大学 一种实现掘支平行作业的临时支架搬运装置及工作方法
CN114087004B (zh) * 2021-11-17 2024-01-30 中国矿业大学 一种实现掘支平行作业的临时支架搬运装置及工作方法

Also Published As

Publication number Publication date
US4629369A (en) 1986-12-16
CA1209968A (fr) 1986-08-19
EP0145270B1 (fr) 1988-01-20
DE3468843D1 (de) 1988-02-25
EP0145270A3 (en) 1985-12-27

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